VMCsi & TCsi - Axis Tuning Using Auto Servo Tuning (AST)

Archive the current system before making any changes.

Archive Current System

Set Manufacture Password.

TRAKmt2021

Release [E-Stop] to enable drives.

Jog all the axis to a safe tuning position. The center of travel is ideal.

Navigate to [Setup] → [Optim/test].

To clear the previous tuning history, select [Options] → [Clear History] → [Yes].

Set the "HMI Options with AST" as follows: check the first 8 boxes.

Press [OK] → [OK] to confirm.

Select desired axis, then [Tune].

From the menu, select "Strategy 105. Measure and Retune Speed ctrl," then press [OK].

The position of the axes relative to the active soft limits is displayed. Ensure everything is positioned in a safe location, as the Z axis will move up to 6" in both positive and negative directions during testing.

Once the safe position is set, select [OK].

Proceed to Step 10.

Select AX6:MSP1 from the axis selections on the left.

Select [Tune Spindle]. From the drop down menu Select [Milling Spindle]

If this is the first time running Auto Tune on the spindle:

Check the first available checkbox: “Position Mode will be necessary to use SPOs, M19, and Tapping.” At the bottom of the page the Axis should read 102. Measure and retune speed and pos ctrl.

If this is not the first time:

Deselect the checkbox mentioned above. At the bottom of the screen the Axis should read 105. Measure and retune speed ctrl

Press [Next Step] → [Tune] → [OK]

Proceed to Step 10.

Select AX6:MC1 from the axis selections on the left.

Select [Tune Spindle]. From the drop down menu Select [Turning Spindle]

Verify these are checked: (1) Position Mode will be necessary to use SPOs, M19, and Tapping. (2) Axis Mode (CAxis, M70). (3) Tapping

Press [Next Step] → [Tune] → [Speed]

Set 'Min integral time Tn: = 0.02s

Press [OK] to open the Auto Servo Tuning: Axis Parking Position screen, then press [OK] again to start Auto Tuning.

Proceed to Step 10.

Select AX8:MC2 from the axis selections on the left.

Select [Tune Spindle]. From the drop down menu Select [Milling Spindle]

Verify these are checked: (1) Position Mode will be necessary to use SPOs, M19, and Tapping. (2) Axis Mode (CAxis, M70). (3) Tapping

Press [Next Step] → [Tune] → [Speed]

Set 'Min integral time Tn: = 0.02s

Press [OK] to open the Auto Servo Tuning: Axis Parking Position screen, then press [OK] again to start Auto Tuning.

Proceed to Step 10.

Select AX9:MC3 from the axis selections on the left.

Select [Tune Spindle]. From the drop down menu Select [Milling Spindle]

Verify these are checked: (1) Position Mode will be necessary to use SPOs, M19, and Tapping. (2) Axis Mode (CAxis, M70). (3) Tapping

Press [Next Step] → [Tune] → [Speed]

Set 'Min integral time Tn: = 0.02s

Press [OK] to open the Auto Servo Tuning: Axis Parking Position screen, then press [OK] again to start Auto Tuning.

Proceed to Step 10.

The following Message will appear. Press [Cycle Start]

Note: When [Cycle start] is actuated, the measurement process begins. The motor moves at a slow constant feedrate and the frequency response is measured. The measurement process can be stopped via the [Reset] key on the MCP or the [E-Stop].

There are 4 total automated tuning cycles. Each tuning cycle will require hitting a [Cycle Start] to initiate.

Prelim Speed ctrl. mech. plant. high freq.

Speed ctrl. mech. plant high freq.

Prelim Speed ctrl. mech. plant low freq.

Speed ctrl. mech plant. low freq.

Each tuning cycle will run for approximately 30 seconds, testing travel with different resonant frequencies.

After the 4 steps are completed, the controller review screen appears.

[Accept] to complete the re-tune process.

The following message appears which can be ignored because no changes are made to the position controller.

Click [OK]→[OK] to continue

Re-Tune process is complete. Test axis movement to confirm the problem is resolved.

Step 12 thru Step 16 applies only to VMC12/VMC14 Z axis tuning if humming sound persists after AST Strategy 105.

Return to the AST axis selection screen, select the Z axis (AX3:MZ1), then press [Tune] to reach the strategy selection screen.

From the drop-down menu, select "104. Measure and retune speed ctrl with verification".

Press [OK].

On the strategy screen, click the [>] arrow next to "Measure speed loop for verification".

Press [Meas. Parameters].

Change the following values:

Averages = 4

Amplitude = 1

Offset % = 0

Press [Back].

Press [Copy to custom], then press [Yes] to confirm copying the predefined strategy to the custom strategy.

Press [Speed].

On the Speed screen, press [Copy to custom].

Set Maximum bandwidth = 70 Hz.

Note: If humming persists after the re-tune, drop the bandwidth in 10 Hz steps (60, 50, then 40 Hz), re-tuning at each step until the humming stops.

Uncheck "Use wide notch filters to consider deviations between series machines."

Press [OK].

Press [OK] to open the Auto Servo Tuning: Axis Parking Position screen.

Press [OK] again to start Auto Tuning.

Follow Step 10 to run all 4 measurement cycles, then Step 11 to accept the controller review.

After tuning completes, the Controller review screen appears.

Press [Speed Ctrl] to view the speed control data changes.

Review the updated drive data — note the changes to Proportional gain Kp and Reference model frequency.

Press [Accept], then press [OK].

Verify: In JOG, move the axis in both directions at low and moderate feed, then stop and let it hold position. Listen for humming at standstill and during motion

If humming persists after the re-tune, return to Step 14 and lower Maximum bandwidth by 10 Hz.

Put the machine in E-Stop

Make a final archive to back up the changed data

Archive Current System

Upload both archives from before and after tuning to the Sharepoint Configs Page. Machines are sorted by type and serial number.

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